From 7fefab8265d39f70e26932374557073e39f18657 Mon Sep 17 00:00:00 2001 From: Daniel Sanchez Date: Thu, 29 Feb 2024 12:02:48 +0900 Subject: [PATCH] update documentation Signed-off-by: Daniel Sanchez --- .../README.md | 21 ++++++++++--------- 1 file changed, 11 insertions(+), 10 deletions(-) diff --git a/planning/behavior_path_start_planner_module/README.md b/planning/behavior_path_start_planner_module/README.md index 4db2390e5d91c..ef1775f314bbd 100644 --- a/planning/behavior_path_start_planner_module/README.md +++ b/planning/behavior_path_start_planner_module/README.md @@ -433,16 +433,17 @@ Pull out distance is calculated by the speed, lateral deviation, and the lateral #### parameters for shift pull out -| Name | Unit | Type | Description | Default value | -| :------------------------------ | :----- | :----- | :------------------------------------------------------------------------------------------------------------------- | :------------ | -| enable_shift_pull_out | [-] | bool | flag whether to enable shift pull out | true | -| check_shift_path_lane_departure | [-] | bool | flag whether to check if shift path footprints are out of lane | false | -| shift_pull_out_velocity | [m/s] | double | velocity of shift pull out | 2.0 | -| pull_out_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 | -| maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 | -| minimum_lateral_jerk | [m/s3] | double | minimum lateral jerk | 0.1 | -| minimum_shift_pull_out_distance | [m] | double | minimum shift pull out distance. if calculated pull out distance is shorter than this, use this for path generation. | 0.0 | -| maximum_curvature | [m] | double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value. | 0.07 | +| Name | Unit | Type | Description | Default value | +| :--------------------------------------------- | :----- | :----- | :------------------------------------------------------------------------------------------------------------------- | :------------ | +| enable_shift_pull_out | [-] | bool | flag whether to enable shift pull out | true | +| check_shift_path_lane_departure | [-] | bool | flag whether to check if shift path footprints are out of lane | true | +| allow_check_shift_path_lane_departure_override | [-] | bool | flag to override/cancel lane departure check if the ego vehicle's starting pose is already out of lane | false | +| shift_pull_out_velocity | [m/s] | double | velocity of shift pull out | 2.0 | +| pull_out_sampling_num | [-] | int | Number of samplings in the minimum to maximum range of lateral_jerk | 4 | +| maximum_lateral_jerk | [m/s3] | double | maximum lateral jerk | 2.0 | +| minimum_lateral_jerk | [m/s3] | double | minimum lateral jerk | 0.1 | +| minimum_shift_pull_out_distance | [m] | double | minimum shift pull out distance. if calculated pull out distance is shorter than this, use this for path generation. | 0.0 | +| maximum_curvature | [m] | double | maximum curvature. The pull out distance is calculated so that the curvature is smaller than this value. | 0.07 | ### **geometric pull out**